1 /***************************************************************************** |
1 ../../../ccat/unittest/main.c |
2 * |
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3 * $Id$ |
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4 * |
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5 * Copyright (C) 2007-2009 Florian Pose, Ingenieurgemeinschaft IgH |
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6 * |
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7 * This file is part of the IgH EtherCAT Master. |
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8 * |
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9 * The IgH EtherCAT Master is free software; you can redistribute it and/or |
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10 * modify it under the terms of the GNU General Public License version 2, as |
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11 * published by the Free Software Foundation. |
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12 * |
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13 * The IgH EtherCAT Master is distributed in the hope that it will be useful, |
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14 * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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16 * Public License for more details. |
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17 * |
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18 * You should have received a copy of the GNU General Public License along |
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19 * with the IgH EtherCAT Master; if not, write to the Free Software |
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20 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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21 * |
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22 * --- |
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23 * |
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24 * The license mentioned above concerns the source code only. Using the |
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25 * EtherCAT technology and brand is only permitted in compliance with the |
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26 * industrial property and similar rights of Beckhoff Automation GmbH. |
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27 * |
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28 ****************************************************************************/ |
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29 |
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30 #include <errno.h> |
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31 #include <signal.h> |
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32 #include <stdio.h> |
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33 #include <string.h> |
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34 #include <sys/resource.h> |
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35 #include <sys/time.h> |
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36 #include <sys/types.h> |
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37 #include <unistd.h> |
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38 |
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39 /****************************************************************************/ |
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40 |
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41 #include "ecrt.h" |
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42 |
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43 /****************************************************************************/ |
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44 |
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45 // Application parameters |
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46 #define FREQUENCY 100 |
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47 #define PRIORITY 1 |
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48 |
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49 // Optional features |
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50 #define CONFIGURE_PDOS 1 |
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51 #define SDO_ACCESS 0 |
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52 |
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53 /****************************************************************************/ |
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54 |
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55 // EtherCAT |
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56 static ec_master_t *master = NULL; |
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57 static ec_master_state_t master_state = {}; |
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58 |
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59 static ec_domain_t *domain1 = NULL; |
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60 static ec_domain_state_t domain1_state = {}; |
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61 |
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62 static ec_slave_config_t *sc_ana_in = NULL; |
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63 static ec_slave_config_state_t sc_ana_in_state = {}; |
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64 |
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65 // Timer |
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66 static unsigned int sig_alarms = 0; |
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67 static unsigned int user_alarms = 0; |
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68 |
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69 /****************************************************************************/ |
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70 |
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71 // process data |
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72 static uint8_t *domain1_pd = NULL; |
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73 |
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74 #define BusCouplerPos 0, 0 |
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75 #define DigOutSlavePos 0, 2 |
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76 #define AnaInSlavePos 0, 3 |
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77 #define AnaOutSlavePos 0, 4 |
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78 |
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79 #define Beckhoff_EK1100 0x00000002, 0x044c2c52 |
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80 #define Beckhoff_EL2004 0x00000002, 0x07d43052 |
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81 #define Beckhoff_EL2032 0x00000002, 0x07f03052 |
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82 #define Beckhoff_EL3152 0x00000002, 0x0c503052 |
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83 #define Beckhoff_EL3102 0x00000002, 0x0c1e3052 |
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84 #define Beckhoff_EL4102 0x00000002, 0x10063052 |
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85 |
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86 // offsets for PDO entries |
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87 static unsigned int off_ana_in_status; |
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88 static unsigned int off_ana_in_value; |
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89 static unsigned int off_ana_out; |
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90 static unsigned int off_dig_out; |
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91 |
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92 const static ec_pdo_entry_reg_t domain1_regs[] = { |
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93 {AnaInSlavePos, Beckhoff_EL3102, 0x3101, 1, &off_ana_in_status}, |
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94 {AnaInSlavePos, Beckhoff_EL3102, 0x3101, 2, &off_ana_in_value}, |
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95 {AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out}, |
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96 {DigOutSlavePos, Beckhoff_EL2032, 0x3001, 1, &off_dig_out}, |
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97 {} |
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98 }; |
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99 |
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100 static unsigned int counter = 0; |
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101 static unsigned int blink = 0; |
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102 |
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103 /*****************************************************************************/ |
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104 |
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105 #if CONFIGURE_PDOS |
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106 |
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107 // Analog in -------------------------- |
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108 |
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109 static ec_pdo_entry_info_t el3102_pdo_entries[] = { |
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110 {0x3101, 1, 8}, // channel 1 status |
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111 {0x3101, 2, 16}, // channel 1 value |
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112 {0x3102, 1, 8}, // channel 2 status |
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113 {0x3102, 2, 16}, // channel 2 value |
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114 {0x6401, 1, 16}, // channel 1 value (alt.) |
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115 {0x6401, 2, 16} // channel 2 value (alt.) |
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116 }; |
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117 |
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118 static ec_pdo_info_t el3102_pdos[] = { |
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119 {0x1A00, 2, el3102_pdo_entries}, |
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120 {0x1A01, 2, el3102_pdo_entries + 2} |
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121 }; |
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122 |
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123 static ec_sync_info_t el3102_syncs[] = { |
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124 {2, EC_DIR_OUTPUT}, |
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125 {3, EC_DIR_INPUT, 2, el3102_pdos}, |
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126 {0xff} |
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127 }; |
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128 |
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129 // Analog out ------------------------- |
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130 |
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131 static ec_pdo_entry_info_t el4102_pdo_entries[] = { |
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132 {0x3001, 1, 16}, // channel 1 value |
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133 {0x3002, 1, 16}, // channel 2 value |
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134 }; |
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135 |
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136 static ec_pdo_info_t el4102_pdos[] = { |
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137 {0x1600, 1, el4102_pdo_entries}, |
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138 {0x1601, 1, el4102_pdo_entries + 1} |
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139 }; |
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140 |
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141 static ec_sync_info_t el4102_syncs[] = { |
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142 {2, EC_DIR_OUTPUT, 2, el4102_pdos}, |
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143 {3, EC_DIR_INPUT}, |
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144 {0xff} |
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145 }; |
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146 |
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147 // Digital out ------------------------ |
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148 |
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149 static ec_pdo_entry_info_t el2004_channels[] = { |
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150 {0x3001, 1, 1}, // Value 1 |
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151 {0x3001, 2, 1}, // Value 2 |
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152 {0x3001, 3, 1}, // Value 3 |
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153 {0x3001, 4, 1} // Value 4 |
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154 }; |
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155 |
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156 static ec_pdo_info_t el2004_pdos[] = { |
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157 {0x1600, 1, &el2004_channels[0]}, |
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158 {0x1601, 1, &el2004_channels[1]}, |
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159 {0x1602, 1, &el2004_channels[2]}, |
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160 {0x1603, 1, &el2004_channels[3]} |
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161 }; |
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162 |
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163 static ec_sync_info_t el2004_syncs[] = { |
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164 {0, EC_DIR_OUTPUT, 4, el2004_pdos}, |
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165 {1, EC_DIR_INPUT}, |
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166 {0xff} |
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167 }; |
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168 #endif |
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169 |
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170 /*****************************************************************************/ |
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171 |
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172 #if SDO_ACCESS |
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173 static ec_sdo_request_t *sdo; |
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174 #endif |
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175 |
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176 /*****************************************************************************/ |
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177 |
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178 void check_domain1_state(void) |
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179 { |
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180 ec_domain_state_t ds; |
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181 |
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182 ecrt_domain_state(domain1, &ds); |
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183 |
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184 if (ds.working_counter != domain1_state.working_counter) |
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185 printf("Domain1: WC %u.\n", ds.working_counter); |
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186 if (ds.wc_state != domain1_state.wc_state) |
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187 printf("Domain1: State %u.\n", ds.wc_state); |
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188 |
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189 domain1_state = ds; |
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190 } |
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191 |
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192 /*****************************************************************************/ |
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193 |
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194 void check_master_state(void) |
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195 { |
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196 ec_master_state_t ms; |
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197 |
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198 ecrt_master_state(master, &ms); |
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199 |
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200 if (ms.slaves_responding != master_state.slaves_responding) |
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201 printf("%u slave(s).\n", ms.slaves_responding); |
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202 if (ms.al_states != master_state.al_states) |
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203 printf("AL states: 0x%02X.\n", ms.al_states); |
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204 if (ms.link_up != master_state.link_up) |
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205 printf("Link is %s.\n", ms.link_up ? "up" : "down"); |
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206 |
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207 master_state = ms; |
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208 } |
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209 |
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210 /*****************************************************************************/ |
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211 |
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212 void check_slave_config_states(void) |
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213 { |
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214 ec_slave_config_state_t s; |
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215 |
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216 ecrt_slave_config_state(sc_ana_in, &s); |
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217 |
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218 if (s.al_state != sc_ana_in_state.al_state) |
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219 printf("AnaIn: State 0x%02X.\n", s.al_state); |
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220 if (s.online != sc_ana_in_state.online) |
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221 printf("AnaIn: %s.\n", s.online ? "online" : "offline"); |
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222 if (s.operational != sc_ana_in_state.operational) |
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223 printf("AnaIn: %soperational.\n", |
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224 s.operational ? "" : "Not "); |
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225 |
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226 sc_ana_in_state = s; |
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227 } |
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228 |
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229 /*****************************************************************************/ |
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230 |
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231 #if SDO_ACCESS |
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232 void read_sdo(void) |
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233 { |
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234 switch (ecrt_sdo_request_state(sdo)) { |
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235 case EC_REQUEST_UNUSED: // request was not used yet |
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236 ecrt_sdo_request_read(sdo); // trigger first read |
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237 break; |
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238 case EC_REQUEST_BUSY: |
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239 fprintf(stderr, "Still busy...\n"); |
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240 break; |
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241 case EC_REQUEST_SUCCESS: |
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242 fprintf(stderr, "SDO value: 0x%04X\n", |
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243 EC_READ_U16(ecrt_sdo_request_data(sdo))); |
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244 ecrt_sdo_request_read(sdo); // trigger next read |
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245 break; |
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246 case EC_REQUEST_ERROR: |
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247 fprintf(stderr, "Failed to read SDO!\n"); |
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248 ecrt_sdo_request_read(sdo); // retry reading |
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249 break; |
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250 } |
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251 } |
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252 #endif |
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253 |
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254 /****************************************************************************/ |
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255 |
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256 void cyclic_task() |
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257 { |
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258 // receive process data |
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259 ecrt_master_receive(master); |
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260 ecrt_domain_process(domain1); |
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261 |
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262 // check process data state (optional) |
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263 check_domain1_state(); |
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264 |
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265 if (counter) { |
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266 counter--; |
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267 } else { // do this at 1 Hz |
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268 counter = FREQUENCY; |
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269 |
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270 // calculate new process data |
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271 blink = !blink; |
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272 |
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273 // check for master state (optional) |
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274 check_master_state(); |
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275 |
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276 // check for islave configuration state(s) (optional) |
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277 check_slave_config_states(); |
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278 |
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279 #if SDO_ACCESS |
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280 // read process data SDO |
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281 read_sdo(); |
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282 #endif |
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283 |
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284 } |
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285 |
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286 #if 0 |
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287 // read process data |
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288 printf("AnaIn: state %u value %u\n", |
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289 EC_READ_U8(domain1_pd + off_ana_in_status), |
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290 EC_READ_U16(domain1_pd + off_ana_in_value)); |
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291 #endif |
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292 |
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293 #if 1 |
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294 // write process data |
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295 EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09); |
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296 #endif |
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297 |
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298 // send process data |
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299 ecrt_domain_queue(domain1); |
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300 ecrt_master_send(master); |
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301 } |
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302 |
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303 /****************************************************************************/ |
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304 |
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305 void signal_handler(int signum) { |
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306 switch (signum) { |
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307 case SIGALRM: |
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308 sig_alarms++; |
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309 break; |
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310 } |
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311 } |
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312 |
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313 /****************************************************************************/ |
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314 |
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315 int main(int argc, char **argv) |
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316 { |
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317 ec_slave_config_t *sc; |
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318 struct sigaction sa; |
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319 struct itimerval tv; |
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320 |
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321 master = ecrt_request_master(0); |
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322 if (!master) |
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323 return -1; |
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324 |
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325 domain1 = ecrt_master_create_domain(master); |
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326 if (!domain1) |
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327 return -1; |
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328 |
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329 if (!(sc_ana_in = ecrt_master_slave_config( |
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330 master, AnaInSlavePos, Beckhoff_EL3102))) { |
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331 fprintf(stderr, "Failed to get slave configuration.\n"); |
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332 return -1; |
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333 } |
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334 |
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335 #if SDO_ACCESS |
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336 fprintf(stderr, "Creating SDO requests...\n"); |
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337 if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2, 2))) { |
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338 fprintf(stderr, "Failed to create SDO request.\n"); |
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339 return -1; |
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340 } |
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341 ecrt_sdo_request_timeout(sdo, 500); // ms |
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342 #endif |
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343 |
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344 #if CONFIGURE_PDOS |
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345 printf("Configuring PDOs...\n"); |
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346 if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3102_syncs)) { |
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347 fprintf(stderr, "Failed to configure PDOs.\n"); |
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348 return -1; |
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349 } |
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350 |
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351 if (!(sc = ecrt_master_slave_config( |
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352 master, AnaOutSlavePos, Beckhoff_EL4102))) { |
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353 fprintf(stderr, "Failed to get slave configuration.\n"); |
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354 return -1; |
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355 } |
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356 |
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357 if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) { |
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358 fprintf(stderr, "Failed to configure PDOs.\n"); |
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359 return -1; |
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360 } |
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361 |
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362 if (!(sc = ecrt_master_slave_config( |
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363 master, DigOutSlavePos, Beckhoff_EL2032))) { |
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364 fprintf(stderr, "Failed to get slave configuration.\n"); |
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365 return -1; |
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366 } |
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367 |
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368 if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) { |
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369 fprintf(stderr, "Failed to configure PDOs.\n"); |
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370 return -1; |
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371 } |
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372 #endif |
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373 |
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374 // Create configuration for bus coupler |
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375 sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100); |
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376 if (!sc) |
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377 return -1; |
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378 |
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379 if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { |
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380 fprintf(stderr, "PDO entry registration failed!\n"); |
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381 return -1; |
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382 } |
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383 |
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384 printf("Activating master...\n"); |
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385 if (ecrt_master_activate(master)) |
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386 return -1; |
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387 |
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388 if (!(domain1_pd = ecrt_domain_data(domain1))) { |
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389 return -1; |
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390 } |
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391 |
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392 #if PRIORITY |
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393 pid_t pid = getpid(); |
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394 if (setpriority(PRIO_PROCESS, pid, -19)) |
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395 fprintf(stderr, "Warning: Failed to set priority: %s\n", |
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396 strerror(errno)); |
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397 #endif |
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398 |
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399 sa.sa_handler = signal_handler; |
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400 sigemptyset(&sa.sa_mask); |
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401 sa.sa_flags = 0; |
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402 if (sigaction(SIGALRM, &sa, 0)) { |
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403 fprintf(stderr, "Failed to install signal handler!\n"); |
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404 return -1; |
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405 } |
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406 |
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407 printf("Starting timer...\n"); |
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408 tv.it_interval.tv_sec = 0; |
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409 tv.it_interval.tv_usec = 1000000 / FREQUENCY; |
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410 tv.it_value.tv_sec = 0; |
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411 tv.it_value.tv_usec = 1000; |
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412 if (setitimer(ITIMER_REAL, &tv, NULL)) { |
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413 fprintf(stderr, "Failed to start timer: %s\n", strerror(errno)); |
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414 return 1; |
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415 } |
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416 |
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417 printf("Started.\n"); |
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418 while (1) { |
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419 pause(); |
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420 |
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421 #if 0 |
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422 struct timeval t; |
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423 gettimeofday(&t, NULL); |
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424 printf("%u.%06u\n", t.tv_sec, t.tv_usec); |
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425 #endif |
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426 |
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427 while (sig_alarms != user_alarms) { |
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428 cyclic_task(); |
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429 user_alarms++; |
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430 } |
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431 } |
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432 |
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433 return 0; |
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434 } |
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435 |
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436 /****************************************************************************/ |
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